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mcu: Enhance itersolve stepper kinematics allocation

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Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-13 11:24:36 -04:00
parent b988596519
commit a31c31aed4
7 changed files with 31 additions and 36 deletions
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12
klippy/kinematics/cartesian.py
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@ -4,13 +4,17 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper, homing, chelper
import stepper, homing
class CartKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# Setup axis rails
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
for n in ['x', 'y', 'z']]
for rail, axis in zip(self.rails, 'xyz'):
rail.setup_itersolve('cartesian_stepper_alloc', axis)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
@ -18,10 +22,6 @@ class CartKinematics:
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
for axis, rail in zip('xyz', self.rails):
rail.setup_cartesian_itersolve(axis)
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
@ -36,7 +36,7 @@ class CartKinematics:
dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
dc_rail = stepper.LookupMultiRail(dc_config)
dc_rail.setup_cartesian_itersolve(dc_axis)
dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
dc_rail.set_max_jerk(max_halt_velocity, max_accel)
self.dual_carriage_rails = [
self.rails[self.dual_carriage_axis], dc_rail]